ViSP  2.10.0
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vpSphere Class Reference
ViSP capabilities » Tracking » Tracking features (3D transformation and forward projection)ViSP capabilities » Mathematics » Geometry » | Geometric feature (3D transformation and forward projection)

#include <vpSphere.h>

+ Inheritance diagram for vpSphere:

Public Types

enum  vpForwardProjectionDeallocatorType { user, vpDisplayForwardProjection }
 

Public Member Functions

void init ()
 
 vpSphere ()
 
virtual ~vpSphere ()
 
 vpSphere (const vpColVector &oP)
 
 vpSphere (const double X0, const double Y0, const double Z0, const double R)
 
void setWorldCoordinates (const vpColVector &oP)
 
void setWorldCoordinates (const double X0, const double Y0, const double Z0, const double R)
 
double get_x () const
 
double get_y () const
 
double get_mu20 () const
 
double get_mu11 () const
 
double get_mu02 () const
 
double getX () const
 
double getY () const
 
double getZ () const
 
double getR () const
 
void projection ()
 
void projection (const vpColVector &cP, vpColVector &p)
 
void changeFrame (const vpHomogeneousMatrix &cMo, vpColVector &cP)
 
void changeFrame (const vpHomogeneousMatrix &cMo)
 
void display (const vpImage< unsigned char > &I, const vpCameraParameters &cam, const vpColor &color=vpColor::green, const unsigned int thickness=1)
 
void display (const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &color=vpColor::green, const unsigned int thickness=1)
 
vpSphere * duplicate () const
 
void project ()
 
void project (const vpHomogeneousMatrix &cMo)
 
void track (const vpHomogeneousMatrix &cMo)
 
virtual void print () const
 
void setDeallocate (vpForwardProjectionDeallocatorType d)
 
vpForwardProjectionDeallocatorType getDeallocate ()
 

Public Attributes

vpColVector oP
 
vpColVector p
 
vpColVector cP
 
bool cPAvailable
 

Detailed Description

Class that defines what is a sphere.

Forward projection of a sphere.

Examples:
manGeometricFeatures.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, and servoSimuSphere2DCamVelocitySecondaryTask.cpp.

Definition at line 64 of file vpSphere.h.

Member Enumeration Documentation

enum vpForwardProjection::vpForwardProjectionDeallocatorType
inherited

Used for memory issue especially in the vpServo class.

Enumerator
user 
vpDisplayForwardProjection 

Definition at line 219 of file vpForwardProjection.h.

Constructor & Destructor Documentation

vpSphere::vpSphere ( )

Definition at line 75 of file vpSphere.cpp.

References init().

Referenced by duplicate().

vpSphere::~vpSphere ( )
virtual

Definition at line 94 of file vpSphere.cpp.

vpSphere::vpSphere ( const vpColVector &  oP)

Definition at line 81 of file vpSphere.cpp.

References init(), and setWorldCoordinates().

vpSphere::vpSphere ( const double  X0,
const double  Y0,
const double  Z0,
const double  R 
)

Definition at line 87 of file vpSphere.cpp.

References init(), and setWorldCoordinates().

Member Function Documentation

void vpSphere::changeFrame ( const vpHomogeneousMatrix &  cMo,
vpColVector &  cP 
)
virtual

Perspective projection of the circle.

Implements vpForwardProjection.

Definition at line 186 of file vpSphere.cpp.

References vpForwardProjection::oP.

Referenced by changeFrame(), and display().

void vpSphere::changeFrame ( const vpHomogeneousMatrix &  cMo)
virtual

perspective projection of the circle

Implements vpForwardProjection.

Definition at line 179 of file vpSphere.cpp.

References changeFrame(), and vpTracker::cP.

void vpSphere::display ( const vpImage< unsigned char > &  I,
const vpCameraParameters &  cam,
const vpColor &  color = vpColor::green,
const unsigned int  thickness = 1 
)
virtual

Displays the feature in the image I thanks to the 2D feature parameters in the image plane (vpTracker::p) and the camera parameters which enable to convert the features from meter to pixel.

Parameters
I: The image where the feature must be displayed in overlay.
cam: The camera parameters to enable the conversion from meter to pixel.
color: The desired color to display the line in the image.
thickness: Thickness of the feature representation.

Implements vpForwardProjection.

Examples:
manGeometricFeatures.cpp.

Definition at line 227 of file vpSphere.cpp.

References vpFeatureDisplay::displayEllipse(), and vpTracker::p.

void vpSphere::display ( const vpImage< unsigned char > &  I,
const vpHomogeneousMatrix &  cMo,
const vpCameraParameters &  cam,
const vpColor &  color = vpColor::green,
const unsigned int  thickness = 1 
)
virtual

Displays the feature in the image I thanks to the features in the object frame (vpForwardProjection::oP), the homogeneous matrix relative to the pose between the object frame and the camera frame and the camera parameters which enable to convert the features from meter to pixel.

Parameters
I: The image where the line must be displayed in overlay.
cMo: The homogeneous matrix corresponding to the pose between the camera frame and the object frame.
cam: The camera parameters to enable the conversion from meter to pixel.
color: The desired color to display the line in the image.
thickness: Thickness of the feature representation.

Implements vpForwardProjection.

Definition at line 211 of file vpSphere.cpp.

References changeFrame(), vpFeatureDisplay::displayEllipse(), and projection().

vpSphere * vpSphere::duplicate ( ) const
virtual

for memory issue (used by the vpServo class only)

Implements vpForwardProjection.

Definition at line 202 of file vpSphere.cpp.

References vpSphere().

double vpSphere::get_mu02 ( ) const
inline
Examples:
servoSimuSphere.cpp.

Definition at line 87 of file vpSphere.h.

double vpSphere::get_mu11 ( ) const
inline
Examples:
servoSimuSphere.cpp.

Definition at line 86 of file vpSphere.h.

double vpSphere::get_mu20 ( ) const
inline
Examples:
servoSimuSphere.cpp.

Definition at line 85 of file vpSphere.h.

double vpSphere::get_x ( ) const
inline
Examples:
servoSimuSphere.cpp.

Definition at line 83 of file vpSphere.h.

double vpSphere::get_y ( ) const
inline
Examples:
servoSimuSphere.cpp.

Definition at line 84 of file vpSphere.h.

vpForwardProjectionDeallocatorType vpForwardProjection::getDeallocate ( )
inlineinherited

Definition at line 231 of file vpForwardProjection.h.

double vpSphere::getR ( ) const
inline
Examples:
servoSimuSphere.cpp.

Definition at line 93 of file vpSphere.h.

double vpSphere::getX ( ) const
inline

Definition at line 89 of file vpSphere.h.

double vpSphere::getY ( ) const
inline

Definition at line 90 of file vpSphere.h.

double vpSphere::getZ ( ) const
inline

Definition at line 91 of file vpSphere.h.

void vpSphere::init ( )
virtual

Default initialisation of the feature parameters:

  • in the object frame: oP
  • in the camera frame: cP
  • in the image plane: p.

Implements vpForwardProjection.

Definition at line 48 of file vpSphere.cpp.

References vpTracker::cP, vpForwardProjection::oP, vpTracker::p, and vpColVector::resize().

Referenced by vpSphere().

void vpForwardProjection::print ( ) const
virtualinherited

Print to stdout the feature parameters in:

  • the object frame
  • the camera frame
  • the image plane.
Examples:
servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, and testPoseRansac.cpp.

Definition at line 63 of file vpForwardProjection.cpp.

References vpTracker::cP, vpForwardProjection::oP, vpTracker::p, and vpColVector::t().

void vpForwardProjection::project ( )
inherited

Compute the feature parameters in the image plane (vpTracker::p) from the parameters in the camera frame (vpTracker::cP).

Warning
Be careful to update vpTracker::p and vpTracker::cP public attributes before the call of this method.
Examples:
homographyHartleyDLT2DObject.cpp, homographyHLM2DObject.cpp, homographyHLM3DObject.cpp, manGeometricFeatures.cpp, manServo4PointsDisplay.cpp, manSimu4Points.cpp, servoAfma62DhalfCamVelocity.cpp, servoAfma6Cylinder2DCamVelocity.cpp, servoAfma6Cylinder2DCamVelocitySecondaryTask.cpp, servoAfma6Line2DCamVelocity.cpp, servoAfma6SquareLines2DCamVelocity.cpp, servoAfma6TwoLines2DCamVelocity.cpp, servoPioneerPanSegment3D.cpp, simulateFourPoints2DPolarCamVelocity.cpp, testFeatureSegment.cpp, testFindMatch.cpp, testPose.cpp, testPoseFeatures.cpp, and testPoseRansac.cpp.

Definition at line 79 of file vpForwardProjection.cpp.

References vpTracker::cP, vpTracker::p, and vpForwardProjection::projection().

Referenced by vpMbTracker::getPolygonFaces(), vpKeyPoint::matchPointAndDetect(), and vpForwardProjection::track().

void vpForwardProjection::project ( const vpHomogeneousMatrix &  cMo)
inherited

Compute the feature parameters in the camera frame (vpTracker::cP) and than compute the projection of these parameters in the image plane (vpTracker::p).

Warning
The feature parameters in the object frame (vpForwardProjection:oP) need to be set prior the use of this method. To initialize these parameters see setWorldCoordinates().
Parameters
cMo: The homogeneous matrix corresponding to the pose between the camera frame and the object frame.

Definition at line 99 of file vpForwardProjection.cpp.

References vpForwardProjection::changeFrame(), vpForwardProjection::projection(), and vpERROR_TRACE.

void vpSphere::projection ( )
virtual

perspective projection of the sphere

Implements vpForwardProjection.

Definition at line 101 of file vpSphere.cpp.

References vpTracker::cP, and vpTracker::p.

Referenced by display().

void vpSphere::projection ( const vpColVector &  cP,
vpColVector &  p 
)
virtual

Perspective projection of the circle.

Implements vpForwardProjection.

Definition at line 108 of file vpSphere.cpp.

References vpERROR_TRACE.

void vpForwardProjection::setDeallocate ( vpForwardProjectionDeallocatorType  d)
inlineinherited

Definition at line 230 of file vpForwardProjection.h.

void vpSphere::setWorldCoordinates ( const vpColVector &  oP)
virtual

Sets the parameters which define the feature in the object frame.

Parameters
oP: Feature parameters expressed in the object frame used to set the vpForwardProjection::oP public attribute.

Implements vpForwardProjection.

Examples:
manGeometricFeatures.cpp, servoSimuSphere2DCamVelocity.cpp, and servoSimuSphere2DCamVelocitySecondaryTask.cpp.

Definition at line 58 of file vpSphere.cpp.

References vpForwardProjection::oP.

Referenced by vpSphere().

void vpSphere::setWorldCoordinates ( const double  X0,
const double  Y0,
const double  Z0,
const double  R 
)

Definition at line 64 of file vpSphere.cpp.

References vpForwardProjection::oP.

void vpForwardProjection::track ( const vpHomogeneousMatrix &  cMo)
inherited

Track the feature parameters in the camera frame (vpTracker::cP) and than compute the projection of these parameters in the image plane (vpTracker::p).

This method is similar to project(const vpHomogeneousMatrix &).

Warning
The feature parameters in the object frame (vpForwardProjection:oP) need to be set prior the use of this method. To initialize these parameters see setWorldCoordinates().
Parameters
cMo: The homogeneous matrix corresponding to the pose between the camera frame and the object frame.
Examples:
manServoMomentsSimple.cpp, servoMomentPoints.cpp, servoMomentPolygon.cpp, servoSimu4Points.cpp, servoSimuAfma6FourPoints2DCamVelocity.cpp, servoSimuCircle2DCamVelocity.cpp, servoSimuCircle2DCamVelocityDisplay.cpp, servoSimuFourPoints2DCamVelocity.cpp, servoSimuFourPoints2DCamVelocityDisplay.cpp, servoSimuFourPoints2DPolarCamVelocityDisplay.cpp, servoSimuLine2DCamVelocityDisplay.cpp, servoSimuPoint2DCamVelocity1.cpp, servoSimuPoint2DCamVelocity2.cpp, servoSimuPoint2DCamVelocity3.cpp, servoSimuPoint2DhalfCamVelocity1.cpp, servoSimuPoint2DhalfCamVelocity2.cpp, servoSimuPoint2DhalfCamVelocity3.cpp, servoSimuPoint3DCamVelocity.cpp, servoSimuSphere.cpp, servoSimuSphere2DCamVelocity.cpp, servoSimuSphere2DCamVelocitySecondaryTask.cpp, servoSimuSquareLine2DCamVelocityDisplay.cpp, servoSimuViper850FourPoints2DCamVelocity.cpp, simulateCircle2DCamVelocity.cpp, simulateFourPoints2DCartesianCamVelocity.cpp, simulateFourPoints2DPolarCamVelocity.cpp, tutorial-ibvs-4pts-ogre.cpp, tutorial-ibvs-4pts-plotter-continuous-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter-gain-adaptive.cpp, tutorial-ibvs-4pts-plotter.cpp, tutorial-ibvs-4pts.cpp, tutorial-simu-pioneer-continuous-gain-adaptive.cpp, tutorial-simu-pioneer-continuous-gain-constant.cpp, tutorial-simu-pioneer-pan.cpp, and tutorial-simu-pioneer.cpp.

Definition at line 130 of file vpForwardProjection.cpp.

References vpForwardProjection::project(), and vpERROR_TRACE.

Referenced by vpPose::computeResidual(), vpProjectionDisplay::displayCamera(), vpDisplay::displayFrame(), vpPose::poseRansac(), vpPose::poseVirtualVS(), vpPose::poseVirtualVSrobust(), vpWireFrameSimulator::projectCameraTrajectory(), vpSimulatorAfma6::updateArticularPosition(), and vpSimulatorViper850::updateArticularPosition().

Member Data Documentation

vpColVector vpTracker::cP
inherited

Feature coordinates expressed in the camera frame cP.

Examples:
servoSimuPoint3DCamVelocity.cpp.

Definition at line 82 of file vpTracker.h.

Referenced by vpFeaturePoint3D::buildFrom(), vpCircle::changeFrame(), changeFrame(), vpCylinder::changeFrame(), vpLine::changeFrame(), vpFeatureBuilder::create(), vpCircle::init(), init(), vpLine::init(), vpPoint::init(), vpCylinder::init(), vpMbtPolygon::isVisible(), vpTracker::operator=(), vpPoint::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), projection(), vpCircle::projection(), vpCylinder::projection(), and vpLine::projection().

bool vpTracker::cPAvailable
inherited

Flag used to indicate if the feature parameters cP expressed in the camera frame are available.

Definition at line 88 of file vpTracker.h.

Referenced by vpTracker::init(), vpTracker::operator=(), and vpPoint::operator=().

vpColVector vpForwardProjection::oP
inherited

Feature coordinates expressed in the object frame, also called world frame.

Definition at line 77 of file vpForwardProjection.h.

Referenced by vpPoint::changeFrame(), changeFrame(), vpCircle::changeFrame(), vpCylinder::changeFrame(), vpLine::changeFrame(), vpPoint::getWorldCoordinates(), vpCircle::init(), init(), vpLine::init(), vpPoint::init(), vpCylinder::init(), vpPoint::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpCircle::setWorldCoordinates(), setWorldCoordinates(), vpLine::setWorldCoordinates(), vpCylinder::setWorldCoordinates(), and vpPoint::setWorldCoordinates().

vpColVector vpTracker::p
inherited

Feature coordinates expressed in the image plane p. They correspond to 2D normalized coordinates expressed in meters.

Definition at line 78 of file vpTracker.h.

Referenced by vpMbtDistanceCircle::computeInteractionMatrixError(), vpMeterPixelConversion::convertEllipse(), vpFeatureBuilder::create(), vpPoint::display(), display(), vpCircle::display(), vpCylinder::display(), vpProjectionDisplay::display(), vpLine::display(), vpProjectionDisplay::displayCamera(), vpDisplay::displayFrame(), vpPose::displayModel(), vpCircle::init(), init(), vpMeTracker::init(), vpLine::init(), vpPoint::init(), vpCylinder::init(), vpTracker::operator=(), vpPoint::operator=(), vpForwardProjection::print(), vpPose::printPoint(), vpForwardProjection::project(), projection(), vpCircle::projection(), vpCylinder::projection(), and vpLine::projection().